Springer Tracts in Advanced Robotics Volume 31 Editors: Bruno Siciliano · Oussama Khatib · Frans Groen
Manuel Ferre, Martin Buss, Rafael Aracil, Claudio Melchiorri and Carlos Balaguer (Eds.)
Advances in Telerobotics
ABC
Professor Bruno Siciliano, Dipartimento di Informatica e Sistemistica, Universitá di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy, E-mail:
[email protected] Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University, Stanford, CA 94305-9010, USA, E-mail:
[email protected] Professor Frans Groen, Department of Computer Science, Universiteit vanAmsterdam, Kruislaan 403, 1098 SJ Amsterdam, The Netherlands, E-mail:
[email protected]
Editors Manuel Ferre Universidad Politécnica de Madrid Dpto. de Automática, Ingeniería Electrónica e Informática Industrial 28006 Madrid, Spain E-mail:
[email protected] Martin Buss Technische Universität München Institute of Automatic Control Engineering (LSR) D-80290 Munich, Germany E-mail:
[email protected],
[email protected] Rafael Aracil Universidad Politécnica de Madrid Dpto. de Automática, Ingeniería Electrónica e Informática Industrial 28006 Madrid, Spain E-mail:
[email protected]
Claudio Melchiorri University of Bologna Laboratory of Automation and Robotics Department of Electronics, Computer Science and Systems 40136 Bologna, Italy E-mail:
[email protected] Carlos Balaguer Universidad Carlos III de Madrid Robotics Lab. Depto. de Ingeniería de Sistemas y Automática 28911 (Leganés) Madrid, Spain E-mail:
[email protected]
Library of Congress Control Number: 2007925206 ISSN print edition: 1610-7438 ISSN electronic edition: 1610-742X ISBN-10 3-540-71363-8 Springer Berlin Heidelberg New York ISBN-13 978-3-540-71363-0 Springer Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must